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<div class="title">crh_alignment.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * crh_recognition.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 30, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef CRH_ALIGNMENT_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define CRH_ALIGNMENT_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/features/crh.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/common/fft/kiss_fftr.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keywordtype">int</span> nbins_&gt;</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html">   31</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_c_r_h_alignment.html">CRHAlignment</a></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structpcl_1_1_c_r_h_alignment_1_1peaks__ordering.html">   36</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      {</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        operator() (std::pair&lt;float, int&gt; <span class="keyword">const</span>&amp; a, std::pair&lt;float, int&gt; <span class="keyword">const</span>&amp; b)</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        {</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;          <span class="keywordflow">return</span> a.first &gt; b.first;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        }</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      } <a class="code" href="structpcl_1_1_c_r_h_alignment_1_1peaks__ordering.html">peaks_ordering</a>;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr PointTPtr;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a0b07ab0f324009d2661023b8125e8804">   48</a></span>&#160;      PointTPtr <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a0b07ab0f324009d2661023b8125e8804">target_view_</a>;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a3e8db5885f6edd3ce002bbe4659854b2">   50</a></span>&#160;      PointTPtr <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a3e8db5885f6edd3ce002bbe4659854b2">input_view_</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#af6a0f45bafe035b51fa113e67e09b4ff">   52</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_c_r_h_alignment.html#af6a0f45bafe035b51fa113e67e09b4ff">centroid_target_</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#afcc617e9c85b289dcf2bb37f8a71b4b3">   54</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_c_r_h_alignment.html#afcc617e9c85b289dcf2bb37f8a71b4b3">centroid_input_</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a1605af4cd1ba49a629e35530315789e3">   56</a></span>&#160;      std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a1605af4cd1ba49a629e35530315789e3">transforms_</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#af21253305169f20820571b23ac339b06">   58</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_c_r_h_alignment.html#af21253305169f20820571b23ac339b06">max_peaks_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#ac81d08316336c8ec9aee1fb6a67cfe00">   60</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_r_h_alignment.html#ac81d08316336c8ec9aee1fb6a67cfe00">quantile_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a04a7b6feb567f278ccef7fdb26393910">   64</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a04a7b6feb567f278ccef7fdb26393910">accept_threshold_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a6a33fdbb51cada7b26655eb76c81f002">   71</a></span>&#160;      <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a6a33fdbb51cada7b26655eb76c81f002">computeTransformToZAxes</a> (Eigen::Vector3f &amp; centroid, Eigen::Affine3f &amp; transform)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        Eigen::Vector3f plane_normal;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        plane_normal[0] = -centroid[0];</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        plane_normal[1] = -centroid[1];</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        plane_normal[2] = -centroid[2];</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        Eigen::Vector3f z_vector = Eigen::Vector3f::UnitZ ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        plane_normal.normalize ();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        Eigen::Vector3f axis = plane_normal.cross (z_vector);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordtype">double</span> rotation = -asin (axis.norm ());</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        axis.normalize ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        transform = Eigen::Affine3f (Eigen::AngleAxisf (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(rotation), axis));</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#ab5f2850497e6f88908e9150ef8767c05">   92</a></span>&#160;      <a class="code" href="classpcl_1_1_c_r_h_alignment.html#ab5f2850497e6f88908e9150ef8767c05">computeRollTransform</a> (Eigen::Vector3f &amp; centroidInput, Eigen::Vector3f &amp; centroidResult, <span class="keywordtype">double</span> roll_angle, Eigen::Affine3f &amp; final_trans)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        Eigen::Affine3f transformInputToZ;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        computeTransformToZAxes (centroidInput, transformInputToZ);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        transformInputToZ = transformInputToZ.inverse ();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        Eigen::Affine3f transformRoll (Eigen::AngleAxisf (-<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(roll_angle * M_PI / 180), Eigen::Vector3f::UnitZ ()));</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        Eigen::Affine3f transformDBResultToZ;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        computeTransformToZAxes (centroidResult, transformDBResultToZ);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        final_trans = transformInputToZ * transformRoll * transformDBResultToZ;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a846ff0e6b692a21da7170f32b94e0e81">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a846ff0e6b692a21da7170f32b94e0e81">CRHAlignment</a>() {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        max_peaks_ = 5;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        quantile_ = 0.2f;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        accept_threshold_ = 0.8f;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#ad25e7de96ca4c5c55d87dc3bacf804ca">  116</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_c_r_h_alignment.html#ad25e7de96ca4c5c55d87dc3bacf804ca">getTransforms</a>(std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp; transforms) {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        transforms = transforms_;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#ad11fe24e81946138b5c2588e8d148930">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_c_r_h_alignment.html#ad11fe24e81946138b5c2588e8d148930">setInputAndTargetView</a> (PointTPtr &amp; input_view, PointTPtr &amp; target_view)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        target_view_ = target_view;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        input_view_ = input_view;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a3035ec22c3d01de1b2bf7a14c78213ab">  136</a></span>&#160;      <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a3035ec22c3d01de1b2bf7a14c78213ab">setInputAndTargetCentroids</a> (Eigen::Vector3f &amp; c1, Eigen::Vector3f &amp; c2)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        centroid_target_ = c2;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        centroid_input_ = c1;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a32c40356d56e22d48eccce5e27e436f2">  147</a></span>&#160;      <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a32c40356d56e22d48eccce5e27e436f2">align</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;<a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;nbins_&gt;</a> &gt; &amp; input_ftt, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;<a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;nbins_&gt;</a> &gt; &amp; target_ftt)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        transforms_.clear(); <span class="comment">//clear from last round...</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        std::vector&lt;float&gt; peaks;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        computeRollAngle (input_ftt, target_ftt, peaks);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="comment">//if the number of peaks is too big, we should try to reduce using siluette matching</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; peaks.size(); i++)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          Eigen::Affine3f rollToRot;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          computeRollTransform (centroid_input_, centroid_target_, peaks[i], rollToRot);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          Eigen::Matrix4f rollHomMatrix = Eigen::Matrix4f ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          rollHomMatrix.setIdentity (4, 4);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          rollHomMatrix = rollToRot.matrix ();</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          Eigen::Matrix4f translation2;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          translation2.setIdentity (4, 4);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          Eigen::Vector3f centr = rollToRot * centroid_target_;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          translation2 (0, 3) = centroid_input_[0] - centr[0];</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          translation2 (1, 3) = centroid_input_[1] - centr[1];</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          translation2 (2, 3) = centroid_input_[2] - centr[2];</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          Eigen::Matrix4f resultHom (translation2 * rollHomMatrix);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          transforms_.push_back(resultHom.inverse());</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_r_h_alignment.html#a527409bf09e68219de60278d1c0e701b">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_c_r_h_alignment.html#a527409bf09e68219de60278d1c0e701b">computeRollAngle</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;<a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;nbins_&gt;</a> &gt; &amp; input_ftt, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;<a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;nbins_&gt;</a> &gt; &amp; target_ftt,</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                        std::vector&lt;float&gt; &amp; peaks)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Histogram&lt;nbins_&gt;</a> &gt; input_ftt_negate (input_ftt);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 2; i &lt; (nbins_); i += 2)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          input_ftt_negate.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[i] = -input_ftt_negate.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[i];</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordtype">int</span> nr_bins_after_padding = 180;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordtype">int</span> peak_distance = 5;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordtype">int</span> cutoff = nbins_ - 1;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <a class="code" href="structkiss__fft__cpx.html">kiss_fft_cpx</a> * multAB = <span class="keyword">new</span> <a class="code" href="structkiss__fft__cpx.html">kiss_fft_cpx</a>[nr_bins_after_padding];</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        for (<span class="keywordtype">int</span> i = 0; i &lt; nr_bins_after_padding; i++)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          multAB[i].r = multAB[i].i = 0.f;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keywordtype">int</span> k = 0;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        multAB[k].r = input_ftt_negate.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[0] * target_ftt.points[0].histogram[0];</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        k++;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordtype">float</span> a, b, c, d;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; cutoff; i += 2, k++)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          a = input_ftt_negate.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[i];</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          b = input_ftt_negate.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[i + 1];</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          c = target_ftt.points[0].histogram[i];</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          d = target_ftt.points[0].histogram[i + 1];</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          multAB[k].r = a * c - b * d;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          multAB[k].i = b * c + a * d;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          <span class="keywordtype">float</span> tmp = std::sqrt (multAB[k].r * multAB[k].r + multAB[k].i * multAB[k].i);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          multAB[k].r /= tmp;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          multAB[k].i /= tmp;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        multAB[nbins_ - 1].r = input_ftt_negate.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[nbins_ - 1] * target_ftt.points[0].histogram[nbins_ - 1];</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <a class="code" href="structkiss__fft__state.html">kiss_fft_cfg</a> mycfg = kiss_fft_alloc (nr_bins_after_padding, 1, NULL, NULL);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <a class="code" href="structkiss__fft__cpx.html">kiss_fft_cpx</a> * invAB = <span class="keyword">new</span> <a class="code" href="structkiss__fft__cpx.html">kiss_fft_cpx</a>[nr_bins_after_padding];</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        kiss_fft (mycfg, multAB, invAB);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        std::vector &lt; std::pair&lt;float, int&gt; &gt; scored_peaks (nr_bins_after_padding);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_bins_after_padding; i++)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          scored_peaks[i] = std::make_pair (invAB[i].r, i);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        std::sort (scored_peaks.begin (), scored_peaks.end (), <a class="code" href="structpcl_1_1_c_r_h_alignment_1_1peaks__ordering.html">peaks_ordering</a> ());</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        std::vector&lt;int&gt; peaks_indices;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        std::vector&lt;float&gt; peaks_values;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="comment">// we look at the upper quantile_</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordtype">float</span> quantile = quantile_;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keywordtype">int</span> max_inserted= max_peaks_;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keywordtype">int</span> inserted=0;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="keywordtype">bool</span> stop=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; (i &lt; static_cast&lt;int&gt; (quantile * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nr_bins_after_padding))) &amp;&amp; !stop; i++)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          <span class="keywordflow">if</span> (scored_peaks[i].first &gt;= scored_peaks[0].first * accept_threshold_)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            <span class="keywordtype">bool</span> insert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; peaks_indices.size (); j++)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;            { <span class="comment">//check inserted peaks, first pick always inserted</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;              <span class="keywordflow">if</span> (std::abs (peaks_indices[j] - scored_peaks[i].second) &lt;= peak_distance || std::abs (</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                                                                                             peaks_indices[j] - (scored_peaks[i].second</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                                                                                                 - nr_bins_after_padding)) &lt;= peak_distance)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;              {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                insert = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;              }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            <span class="keywordflow">if</span> (insert)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;              peaks_indices.push_back (scored_peaks[i].second);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;              peaks_values.push_back (scored_peaks[i].first);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;              peaks.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (scored_peaks[i].second * (360 / nr_bins_after_padding)));</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;              inserted++;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;              <span class="keywordflow">if</span>(inserted &gt;= max_inserted)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                stop = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;            }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    };</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;}</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* CRH_ALIGNMENT_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html">pcl::CRHAlignment</a></div><div class="ttdoc">CRHAlignment uses two Camera Roll Histograms (CRH) to find the roll rotation that aligns both views....</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:32</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a04a7b6feb567f278ccef7fdb26393910"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a04a7b6feb567f278ccef7fdb26393910">pcl::CRHAlignment::accept_threshold_</a></div><div class="ttdeci">float accept_threshold_</div><div class="ttdoc">Threshold for a peak to be accepted. If peak_i &gt;= (max_peak * accept_threhsold_) =&gt; peak is accepted</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a0b07ab0f324009d2661023b8125e8804"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a0b07ab0f324009d2661023b8125e8804">pcl::CRHAlignment::target_view_</a></div><div class="ttdeci">PointTPtr target_view_</div><div class="ttdoc">View of the model to be aligned to input_view_</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a1605af4cd1ba49a629e35530315789e3"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a1605af4cd1ba49a629e35530315789e3">pcl::CRHAlignment::transforms_</a></div><div class="ttdeci">std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; transforms_</div><div class="ttdoc">transforms from model view to input view</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a3035ec22c3d01de1b2bf7a14c78213ab"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a3035ec22c3d01de1b2bf7a14c78213ab">pcl::CRHAlignment::setInputAndTargetCentroids</a></div><div class="ttdeci">void setInputAndTargetCentroids(Eigen::Vector3f &amp;c1, Eigen::Vector3f &amp;c2)</div><div class="ttdoc">sets model and input centroids</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a32c40356d56e22d48eccce5e27e436f2"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a32c40356d56e22d48eccce5e27e436f2">pcl::CRHAlignment::align</a></div><div class="ttdeci">void align(pcl::PointCloud&lt; pcl::Histogram&lt; nbins_ &gt; &gt; &amp;input_ftt, pcl::PointCloud&lt; pcl::Histogram&lt; nbins_ &gt; &gt; &amp;target_ftt)</div><div class="ttdoc">Computes the transformation aligning model to input</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a3e8db5885f6edd3ce002bbe4659854b2"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a3e8db5885f6edd3ce002bbe4659854b2">pcl::CRHAlignment::input_view_</a></div><div class="ttdeci">PointTPtr input_view_</div><div class="ttdoc">View of the input</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a527409bf09e68219de60278d1c0e701b"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a527409bf09e68219de60278d1c0e701b">pcl::CRHAlignment::computeRollAngle</a></div><div class="ttdeci">void computeRollAngle(pcl::PointCloud&lt; pcl::Histogram&lt; nbins_ &gt; &gt; &amp;input_ftt, pcl::PointCloud&lt; pcl::Histogram&lt; nbins_ &gt; &gt; &amp;target_ftt, std::vector&lt; float &gt; &amp;peaks)</div><div class="ttdoc">Computes the roll angle that aligns input to modle.</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a6a33fdbb51cada7b26655eb76c81f002"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a6a33fdbb51cada7b26655eb76c81f002">pcl::CRHAlignment::computeTransformToZAxes</a></div><div class="ttdeci">void computeTransformToZAxes(Eigen::Vector3f &amp;centroid, Eigen::Affine3f &amp;transform)</div><div class="ttdoc">computes the transformation to the z-axis</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a846ff0e6b692a21da7170f32b94e0e81"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a846ff0e6b692a21da7170f32b94e0e81">pcl::CRHAlignment::CRHAlignment</a></div><div class="ttdeci">CRHAlignment()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_ab5f2850497e6f88908e9150ef8767c05"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#ab5f2850497e6f88908e9150ef8767c05">pcl::CRHAlignment::computeRollTransform</a></div><div class="ttdeci">void computeRollTransform(Eigen::Vector3f &amp;centroidInput, Eigen::Vector3f &amp;centroidResult, double roll_angle, Eigen::Affine3f &amp;final_trans)</div><div class="ttdoc">computes the roll transformation</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_ac81d08316336c8ec9aee1fb6a67cfe00"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#ac81d08316336c8ec9aee1fb6a67cfe00">pcl::CRHAlignment::quantile_</a></div><div class="ttdeci">float quantile_</div><div class="ttdoc">Quantile of peaks after sorting to be checked</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_ad11fe24e81946138b5c2588e8d148930"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#ad11fe24e81946138b5c2588e8d148930">pcl::CRHAlignment::setInputAndTargetView</a></div><div class="ttdeci">void setInputAndTargetView(PointTPtr &amp;input_view, PointTPtr &amp;target_view)</div><div class="ttdoc">sets model and input views</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_ad25e7de96ca4c5c55d87dc3bacf804ca"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#ad25e7de96ca4c5c55d87dc3bacf804ca">pcl::CRHAlignment::getTransforms</a></div><div class="ttdeci">void getTransforms(std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;transforms)</div><div class="ttdoc">returns the computed transformations</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_af21253305169f20820571b23ac339b06"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#af21253305169f20820571b23ac339b06">pcl::CRHAlignment::max_peaks_</a></div><div class="ttdeci">int max_peaks_</div><div class="ttdoc">Allowed maximum number of peaks</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_af6a0f45bafe035b51fa113e67e09b4ff"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#af6a0f45bafe035b51fa113e67e09b4ff">pcl::CRHAlignment::centroid_target_</a></div><div class="ttdeci">Eigen::Vector3f centroid_target_</div><div class="ttdoc">Centroid of the model_view_</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_afcc617e9c85b289dcf2bb37f8a71b4b3"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#afcc617e9c85b289dcf2bb37f8a71b4b3">pcl::CRHAlignment::centroid_input_</a></div><div class="ttdeci">Eigen::Vector3f centroid_input_</div><div class="ttdoc">Centroid of the input_view_</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructkiss__fft__cpx_html"><div class="ttname"><a href="structkiss__fft__cpx.html">kiss_fft_cpx</a></div><div class="ttdef"><b>Definition:</b> kiss_fft.h:57</div></div>
<div class="ttc" id="astructkiss__fft__state_html"><div class="ttname"><a href="structkiss__fft__state.html">kiss_fft_state</a></div><div class="ttdef"><b>Definition:</b> _kiss_fft_guts.h:28</div></div>
<div class="ttc" id="astructpcl_1_1_c_r_h_alignment_1_1peaks__ordering_html"><div class="ttname"><a href="structpcl_1_1_c_r_h_alignment_1_1peaks__ordering.html">pcl::CRHAlignment::peaks_ordering</a></div><div class="ttdoc">Sorts peaks</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:37</div></div>
<div class="ttc" id="astructpcl_1_1_histogram_html"><div class="ttname"><a href="structpcl_1_1_histogram.html">pcl::Histogram</a></div><div class="ttdoc">A point structure representing an N-D histogram.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1475</div></div>
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